void jacTransform(MXD& J, const mtInput& input) const{
J.setZero();
const int& camID = input.CfP(ID_).camID_;
if(camID != outputCamID_){
input.updateMultiCameraExtrinsics(mpMultiCamera_);
const QPD qDC = input.qCM(outputCamID_)*input.qCM(camID).inverted(); // TODO: avoid double computation
const V3D CrCD = input.qCM(camID).rotate(V3D(input.MrMC(outputCamID_)-input.MrMC(camID)));
const V3D CrCP = input.dep(ID_).getDistance()*input.CfP(ID_).get_nor().getVec();
const V3D DrDP = qDC.rotate(V3D(CrCP-CrCD));
const double d_out = DrDP.norm();
const LWF::NormalVectorElement nor_out(DrDP); // TODO: test if Jacobian works, this new setting of vector is dangerous
const Eigen::Matrix<double,1,3> J_d_DrDP = nor_out.getVec().transpose();
const Eigen::Matrix<double,2,3> J_nor_DrDP = nor_out.getM().transpose()/d_out;
const Eigen::Matrix<double,3,3> J_DrDP_qDC = gSM(DrDP);
const Eigen::Matrix<double,3,3> J_DrDP_CrCP = MPD(qDC).matrix();
const Eigen::Matrix<double,3,3> J_DrDP_CrCD = -MPD(qDC).matrix();
const Eigen::Matrix<double,3,3> J_qDC_qDB = Eigen::Matrix3d::Identity();
const Eigen::Matrix<double,3,3> J_qDC_qCB = -MPD(qDC).matrix();
const Eigen::Matrix<double,3,3> J_CrCD_qCB = gSM(CrCD);
const Eigen::Matrix<double,3,3> J_CrCD_BrBC = -MPD(input.qCM(camID)).matrix();
const Eigen::Matrix<double,3,3> J_CrCD_BrBD = MPD(input.qCM(camID)).matrix();
const Eigen::Matrix<double,3,1> J_CrCP_d = input.CfP(ID_).get_nor().getVec()*input.dep(ID_).getDistanceDerivative();
const Eigen::Matrix<double,3,2> J_CrCP_nor = input.dep(ID_).getDistance()*input.CfP(ID_).get_nor().getM();
J.template block<2,2>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_fea>(ID_)) = J_nor_DrDP*J_DrDP_CrCP*J_CrCP_nor;
J.template block<2,1>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_fea>(ID_)+2) = J_nor_DrDP*J_DrDP_CrCP*J_CrCP_d;
if(!ignoreDistanceOutput_){
J.template block<1,2>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_fea>(ID_)) = J_d_DrDP*J_DrDP_CrCP*J_CrCP_nor;
J.template block<1,1>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_fea>(ID_)+2) = J_d_DrDP*J_DrDP_CrCP*J_CrCP_d;
}
if(input.aux().doVECalibration_ && camID != outputCamID_){
J.template block<2,3>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_vea>(camID)) = J_nor_DrDP*(J_DrDP_qDC*J_qDC_qCB+J_DrDP_CrCD*J_CrCD_qCB);
J.template block<2,3>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_vea>(outputCamID_)) = J_nor_DrDP*J_DrDP_qDC*J_qDC_qDB;
J.template block<2,3>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_vep>(camID)) = J_nor_DrDP*J_DrDP_CrCD*J_CrCD_BrBC;
J.template block<2,3>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_vep>(outputCamID_)) = J_nor_DrDP*J_DrDP_CrCD*J_CrCD_BrBD;
if(!ignoreDistanceOutput_){
J.template block<1,3>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_vea>(camID)) = J_d_DrDP*(J_DrDP_qDC*J_qDC_qCB+J_DrDP_CrCD*J_CrCD_qCB);
J.template block<1,3>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_vea>(outputCamID_)) = J_d_DrDP*J_DrDP_qDC*J_qDC_qDB;
J.template block<1,3>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_vep>(camID)) = J_d_DrDP*J_DrDP_CrCD*J_CrCD_BrBC;
J.template block<1,3>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_vep>(outputCamID_)) = J_d_DrDP*J_DrDP_CrCD*J_CrCD_BrBD;
}
}
} else {
J.template block<2,2>(mtOutput::template getId<mtOutput::_fea>(),mtInput::template getId<mtInput::_fea>(ID_)) = Eigen::Matrix2d::Identity();
J.template block<1,1>(mtOutput::template getId<mtOutput::_fea>()+2,mtInput::template getId<mtInput::_fea>(ID_)+2) = Eigen::Matrix<double,1,1>::Identity();
}
}
void jacTransform(MXD& J, const mtInput& input) const{
J.setZero();
rot::EulerAnglesYprPD ypr(input.template get<mtInput::_att>());
const double theta = ypr.pitch();
const double phi = ypr.roll();
const double t2 = cos(theta);
const double t3 = 1.0/t2;
const double t4 = cos(phi);
const double t5 = sin(phi);
const double t6 = sin(theta);
J(0,0) = 0.0;
J(0,1) = t3*t5;
J(0,2) = t3*t4;
J(1,0) = 0.0;
J(1,1) = t4;
J(1,2) = -t5;
J(2,0) = 1.0;
J(2,1) = t3*t5*t6;
J(2,2) = t3*t4*t6;
}
/** \brief Computes the Jacobian for the update step of the filter w.r.t. to the noise variables
*
* @param G - Jacobian for the update step of the filter.
* @param state - Filter state.
* @param meas - Not used.
* @param dt - Not used.
*/
void jacNoise(MXD& G, const mtState& state) const{
G.setZero();
G.template block<3,3>(mtInnovation::template getId<mtInnovation::_vel>(),mtNoise::template getId<mtNoise::_vel>()) = Eigen::Matrix3d::Identity();
}
/** \brief Computes the Jacobian for the update step of the filter.
*
* @param F - Jacobian for the update step of the filter.
* @param state - Filter state.
* @param meas - Not used.
* @param dt - Not used.
*/
void jacState(MXD& F, const mtState& state) const{
F.setZero();
F.template block<3,3>(mtInnovation::template getId<mtInnovation::_vel>(),mtState::template getId<mtState::_vel>()) = Eigen::Matrix3d::Identity();
}